CN106737721A - One kind drives the simple painted Work machine arm of two degrees of freedom linkage using servomotor - Google Patents
One kind drives the simple painted Work machine arm of two degrees of freedom linkage using servomotor Download PDFInfo
- Publication number
- CN106737721A CN106737721A CN201611068600.7A CN201611068600A CN106737721A CN 106737721 A CN106737721 A CN 106737721A CN 201611068600 A CN201611068600 A CN 201611068600A CN 106737721 A CN106737721 A CN 106737721A
- Authority
- CN
- China
- Prior art keywords
- driving lever
- connecting rod
- servomotor
- arm
- wrist
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
One kind drives the simple painted Work machine arm of two degrees of freedom linkage, including the second driving lever 2, base 14, large arm 4, forearm 7, wrist connecting rod 9, the first driving lever 11, wrist 17, nozzle 8, servo drive and connecting rod 15 using servomotor；The one end of the connecting rod 15 rotates secondary 5 and is connected in large arm 4 by the 7th, and the other end of connecting rod 15 is connected on the first driving lever 11 by eighth-turn dynamic secondary 10；The base 14 is arranged in walking chassis, servo drive includes the first servomotor, the second servomotor, it is connected to drive it to rotate with the first driving lever 11, the second driving lever 2 respectively, first driving lever 11, the common driving of the second driving lever 2 complete the motions such as large arm lifting and the pitching of wrist 17, realize the painting operation operation of nozzle 18.Motor instant invention overcomes open-chain structure is required for being arranged on the shortcoming of joint position, improves the stationarity and reliability of arm operation.
Description
Technical field
It is particularly a kind of to drive two degrees of freedom linkage simple painted using servomotor the present invention relates to mechanical field
Work machine arm.
Background technology
Over the years, because the personnel of labour market are in short supply, human cost rises year by year, promotes painting operation machinery
Extensive use of the arm in painting operation.Painting operation machinery arm has mechanical and fluid pressure type two types, current painting operation
Most of mechanical arm of mechanical arm is hydraulic-driven, is existed as the medium of transmission power using hydraulic oil due to hydraulic drive
Problems with：Its startability is poor, and easily because producing leakage after inner member abrasion, and the hydraulic oil of leakage can pollute ring
Border；Hydraulic oil temperature influence is larger, and gross efficiency is relatively low, there is noise and vibration sometimes.It sometimes appear that overheat, powerless in work etc.
Phenomenon；Hydraulic Elements requirement on machining accuracy is high, and matching requirements are strict, and manufacture is more difficult, and maintenance requires technology in use
Higher, difficulty is larger.As the increase of painting operation machinery arm function, its hydraulic system become increasingly complex, failure has more
Have sudden, disguised.Mechanical painting operation machinery arm is to realize that painting operation is acted using mechanical transmissioning piece, with firm
Durable the advantages of, but the mechanical painting operation machinery arm of traditional single-degree-of-freedom can not complete the action of complexity, range of application
Extremely limited, the electronic painting operation machinery arm of mechanical controllable mechanism instead of hydraulic drive with linkage, when driving lever by
When servomotor drives, automation, NC postprocessing control are easily realized, solve some shortcomings of hydraulic system presence.
The content of the invention
The simple painted operation of two degrees of freedom linkage is driven using servomotor it is an object of the invention to provide one kind
Mechanical arm, overcomes the shortcomings of fluid pressure type painting operation machinery arm hydraulic system element required precision high, complex structure, easy oil leakage,
Overcome the motor of open-chain structure to be required for being arranged on the shortcoming of joint position, simplify the complexity of structure, reducing mechanism
Weight, movement inertia, volume and cost.To achieve the above object, the one kind that provides of the invention drives two certainly using servomotor
By the simple painted Work machine arm of degree linkage, including the second driving lever 2, base 14, large arm 4, forearm 7, wrist connecting rod 9,
First driving lever 11, wrist 17, nozzle 8, servo drive and connecting rod 15；Described one end of second driving lever 2 passes through the 3rd turn
Dynamic secondary 1 is connected with base 14, and the other end of the second driving lever 2 rotates secondary 3 and is connected with the one end of large arm 4 by the 4th, the other end of large arm 4
Secondary 6 are rotated by the 5th to be connected with the one end of forearm 7, the other end of forearm 7 rotates secondary 8 and connects on wrist connecting rod 9 by the 6th；Institute
State the one end of the first driving lever 11 to be connected with base 14 by the first rotation secondary 13, the other end of the first driving lever 11 is rotated by second
Secondary 10 connect on wrist connecting rod 9；The one end of the connecting rod 15 rotates secondary 5 and is connected in large arm 4 by the 7th, and the other end of connecting rod 15 leads to
Eighth-turn dynamic secondary 10 is crossed to connect on the first driving lever 11；The base 14 is arranged in walking chassis, and servo drive includes
First servomotor, the second servomotor, are connected to drive it to rotate, first with the first driving lever 11, the second driving lever 2 respectively
Driving lever 11, the common driving of the second driving lever 2 complete the motions such as large arm lifting and the pitching of wrist 17, realize the application of nozzle 18
Operation operation.
The present invention uses controllable many bar closed chain mechanisms, and the motor for overcoming open-chain structure is required for being arranged on joint position
The shortcoming put, improves the stationarity and reliability of arm operation, and without accumulated error, precision is higher；Compact conformation, rigidity is high,
Large carrying capacity, inertia are low, dynamic property is good, arm motion track flexible and diverse, overcome fluid pressure type painting operation machinery
Arm hydraulic system element required precision is high, complex structure, easy oil leakage, poor reliability, the low shortcoming of transmission efficiency.
Brief description of the drawings
Fig. 1 is of the present invention a kind of using the servomotor driving simple painted Work machine arm of two degrees of freedom linkage
Schematic diagram.
Specific embodiment
One kind drives the simple painted Work machine arm of two degrees of freedom linkage, including the second driving lever using servomotor
2nd, base 14, large arm 4, forearm 7, wrist connecting rod 9, the first driving lever 11, wrist 17, nozzle 8, servo drive and connecting rod
15；The base 14 is arranged on removable revolving dial；Described one end of second driving lever 2 rotates secondary 1 and bottom by the 3rd
Seat 14 is connected, and the other end of the second driving lever 2 rotates secondary 3 and is connected with the one end of large arm 4 by the 4th, and the other end of large arm 4 passes through the 5th
Rotate secondary 6 to be connected with the one end of forearm 7, the other end of forearm 7 rotates secondary 8 and connects on wrist connecting rod 9 by the 6th；First master
The one end of lever 11 rotates secondary 13 and is connected with base 14 by first, and the other end of the first driving lever 11 rotates secondary 10 and connects by second
On wrist connecting rod 9；The one end of the connecting rod 15 rotates secondary 5 and is connected in large arm 4 by the 7th, and the other end of connecting rod 15 passes through eighth-turn
Dynamic secondary 10 connect on the first driving lever 11；The base 14 is arranged in walking chassis, and servo drive includes the first servo
Motor, the second servomotor, are connected to drive it to rotate, the first driving lever with the first driving lever 11, the second driving lever 2 respectively
11st, the common driving of the second driving lever 2 completes the motions such as large arm lifting and the pitching of wrist 17, realizes that the painting operation of nozzle 18 is made
Industry.
Claims (1)
1. it is a kind of that the simple painted Work machine arm of two degrees of freedom linkage is driven using servomotor, it is characterised in that including：
Second driving lever 2, base 14, large arm 4, forearm 7, wrist connecting rod 9, the first driving lever 11, wrist 17, nozzle 8, servo-drive dress
Put and connecting rod 15；The base 14 is arranged on removable revolving dial；Described one end of second driving lever 2 rotates by the 3rd
Secondary 1 is connected with base 14, and the other end of the second driving lever 2 rotates secondary 3 and is connected with the one end of large arm 4 by the 4th, and the other end of large arm 4 leads to
Cross the 5th rotation secondary 6 to be connected with the one end of forearm 7, the other end of forearm 7 rotates secondary 8 and connects on wrist connecting rod 9 by the 6th；It is described
The one end of first driving lever 11 rotates secondary 13 and is connected with base 14 by first, and the other end of the first driving lever 11 rotates secondary by second
On 10 connection wrist connecting rods 9；The one end of the connecting rod 15 rotates secondary 5 and is connected in large arm 4 by the 7th, and the other end of connecting rod 15 passes through
Eighth-turn dynamic secondary 10 is connected on the first driving lever 11；The base 14 is arranged in walking chassis, and servo drive includes the
One servomotor, the second servomotor, are connected to drive it to rotate with the first driving lever 11, the second driving lever 2 respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611068600.7A CN106737721A (en) | 2016-11-29 | 2016-11-29 | One kind drives the simple painted Work machine arm of two degrees of freedom linkage using servomotor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611068600.7A CN106737721A (en) | 2016-11-29 | 2016-11-29 | One kind drives the simple painted Work machine arm of two degrees of freedom linkage using servomotor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106737721A true CN106737721A (en) | 2017-05-31 |
Family
ID=58904952
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611068600.7A Pending CN106737721A (en) | 2016-11-29 | 2016-11-29 | One kind drives the simple painted Work machine arm of two degrees of freedom linkage using servomotor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106737721A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106759569A (en) * | 2016-11-30 | 2017-05-31 | 广西大学 | One kind drives the simple linkage of two degrees of freedom using servomotor |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2705934A2 (en) * | 2012-09-10 | 2014-03-12 | CVUT V Praze, Fakulta Strojní | A method and a device for change of rigidity of a serial or parallel basic movable mechanism, especially of industrial robots and machining machines |
| CN104032779A (en) * | 2014-06-27 | 2014-09-10 | 广西大学 | Multi-connecting-rod controllable mining mechanism with variable cell function |
| CN104047314A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Controllable mechanism type loading machine with active metamorphic function |
| CN104532889A (en) * | 2014-12-25 | 2015-04-22 | 广西大学 | Seven-rod eight-pair controllable mechanism type loading mechanism capable of working at multiple angles |
| CN104608116A (en) * | 2014-12-17 | 2015-05-13 | 广西大学 | Mobile mechanical arm with seven-connecting-rod five-freedom-degree controllable mechanism |
-
2016
- 2016-11-29 CN CN201611068600.7A patent/CN106737721A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2705934A2 (en) * | 2012-09-10 | 2014-03-12 | CVUT V Praze, Fakulta Strojní | A method and a device for change of rigidity of a serial or parallel basic movable mechanism, especially of industrial robots and machining machines |
| CN104032779A (en) * | 2014-06-27 | 2014-09-10 | 广西大学 | Multi-connecting-rod controllable mining mechanism with variable cell function |
| CN104047314A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Controllable mechanism type loading machine with active metamorphic function |
| CN104608116A (en) * | 2014-12-17 | 2015-05-13 | 广西大学 | Mobile mechanical arm with seven-connecting-rod five-freedom-degree controllable mechanism |
| CN104532889A (en) * | 2014-12-25 | 2015-04-22 | 广西大学 | Seven-rod eight-pair controllable mechanism type loading mechanism capable of working at multiple angles |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106759569A (en) * | 2016-11-30 | 2017-05-31 | 广西大学 | One kind drives the simple linkage of two degrees of freedom using servomotor |
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| PB01 | Publication | ||
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170531 |
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| WD01 | Invention patent application deemed withdrawn after publication |